{"id":"https://openalex.org/W2124360499","doi":"https://doi.org/10.1109/robot.2008.4543496","title":"Inverse agreement algorithms with application to swarm dispersion for multiple nonholonomic agents","display_name":"Inverse agreement algorithms with application to swarm dispersion for multiple nonholonomic agents","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2124360499","doi":"https://doi.org/10.1109/robot.2008.4543496","mag":"2124360499"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/ROBOT.2008.4543496","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"id":"https://openalex.org/I4210101173","display_name":"Access Community Health Network","ror":"https://ror.org/0195ge738","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101173"]},{"id":"https://openalex.org/I223464139","display_name":"Linnaeus University","ror":"https://ror.org/00j9qag85","country_code":"SE","type":"education","lineage":["https://openalex.org/I223464139"]}],"countries":["SE","US"],"is_corresponding":true,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["School of Electrical Engineering, Royal Institute of Technology, KTH ACCESS Linnaeus Center, Stockholm, Sweden","KTH ACCESS Linnaeus Center, R. Inst. of Technol., Stockholm"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Royal Institute of Technology, KTH ACCESS Linnaeus Center, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH ACCESS Linnaeus Center, R. Inst. of Technol., Stockholm","institution_ids":["https://openalex.org/I223464139","https://openalex.org/I4210101173"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kostas J. Kyriakopoulos","raw_affiliation_strings":["Control Systems Lab, Department of Mechanical Engineering, National and Technical University of Athens, Greece","Control Systems Lab, Department of Mechanical Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Control Systems Lab, Department of Mechanical Engineering, National and Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Control Systems Lab, Department of Mechanical Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055348953"],"corresponding_institution_ids":["https://openalex.org/I223464139","https://openalex.org/I4210101173","https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.5248,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.85383923,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1973","last_page":"1978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11187","display_name":"Nonlinear Dynamics and Pattern Formation","score":0.9724000096321106,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8980280160903931},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.7476119995117188},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.704265832901001},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.6702769994735718},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.5076154470443726},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5046983957290649},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4974847137928009},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4779496192932129},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.4741891324520111},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.46245288848876953},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.4186493158340454},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.389120489358902},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30449575185775757},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2789071202278137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27370786666870117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24283581972122192},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.20845955610275269},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13554051518440247},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1207379698753357},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09503573179244995},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08476567268371582}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8980280160903931},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7476119995117188},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.704265832901001},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.6702769994735718},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.5076154470443726},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5046983957290649},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4974847137928009},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4779496192932129},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4741891324520111},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.46245288848876953},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.4186493158340454},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.389120489358902},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30449575185775757},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2789071202278137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27370786666870117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24283581972122192},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.20845955610275269},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13554051518440247},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1207379698753357},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09503573179244995},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08476567268371582},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.702.9964","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.702.9964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.kth.se/%7Edimos/ICRA08_0377_FI.pdf","raw_type":"text"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32289","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2008.4543496","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32289","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2008.4543496","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7799999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1551360398","https://openalex.org/W1592648094","https://openalex.org/W1984648987","https://openalex.org/W2005610185","https://openalex.org/W2050997834","https://openalex.org/W2073540225","https://openalex.org/W2099175737","https://openalex.org/W2103171634","https://openalex.org/W2105850748","https://openalex.org/W2107396783","https://openalex.org/W2108916623","https://openalex.org/W2109987654","https://openalex.org/W2128928412","https://openalex.org/W2148993855","https://openalex.org/W2150973821","https://openalex.org/W2165744313","https://openalex.org/W2167334178","https://openalex.org/W2167485994","https://openalex.org/W2168132433","https://openalex.org/W2172498959","https://openalex.org/W2518113119","https://openalex.org/W2610857016","https://openalex.org/W4293078920"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556","https://openalex.org/W2073535592"],"abstract_inverted_index":{"We":[0],"propose":[1],"an":[2,29],"inverse":[3],"agreement":[4],"control":[5,90,113],"strategy":[6],"for":[7],"multiple":[8],"nonholonomic":[9],"agents":[10,61,97],"that":[11,44,72],"forces":[12],"the":[13,19,26,39,45,54,78,83,89,96,101,105,111,118],"team":[14,119],"members":[15],"to":[16,94,98],"disperse":[17],"in":[18,21,52],"workspace":[20,35,102],"a":[22,32,50,65,86],"distributed":[23],"manner.":[24],"Both":[25],"cases":[27],"of":[28,60,85],"unbounded":[30],"and":[31],"circular":[33],"bounded":[34,87],"are":[36,123],"considered.":[37],"In":[38,82],"first":[40],"case,":[41],"we":[42],"show":[43],"closed":[46,106],"loop":[47,107],"system":[48,108],"reaches":[49],"configuration":[51],"which":[53],"minimum":[55],"distance":[56],"between":[57,117],"any":[58],"pair":[59],"is":[62,70,92],"larger":[63],"than":[64],"specific":[66],"lower":[67,74],"bound.":[68],"It":[69],"proved":[71],"this":[73],"bound":[75],"coincides":[76],"with":[77],"agents'":[79],"sensing":[80],"radius.":[81],"case":[84],"workspace,":[88],"law":[91],"modified":[93],"force":[95],"remain":[99],"within":[100],"boundary":[103],"throughout":[104],"evolution.":[109],"Moreover":[110],"proposed":[112],"guarantees":[114],"collision":[115],"avoidance":[116],"members.":[120],"The":[121],"results":[122],"supported":[124],"through":[125],"relevant":[126],"computer":[127],"simulations.":[128]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}